From a0a92818d6d9e4c3552f381ea2ea35b62db37582 Mon Sep 17 00:00:00 2001
From: "kepler155c@gmail.com" <kepler155c@gmail.com>
Date: Wed, 13 Mar 2019 17:53:49 -0400
Subject: [PATCH] neural look

---
 milo/MiloLocal.lua        |  4 ++++
 neural/apis/angle.lua     |  2 +-
 neural/apis/interface.lua |  2 +-
 neural/neuralLook.lua     | 32 ++++++++++++++++++++++++++++++++
 4 files changed, 38 insertions(+), 2 deletions(-)
 create mode 100644 neural/neuralLook.lua

diff --git a/milo/MiloLocal.lua b/milo/MiloLocal.lua
index 23b4e19..79f6b97 100644
--- a/milo/MiloLocal.lua
+++ b/milo/MiloLocal.lua
@@ -162,6 +162,10 @@ Event.on({ 'milo_cycle', 'milo_queue' }, function(e)
     context.taskTimer = context.taskTimer + taskTimer()
     context.taskCounter = context.taskCounter + 1
   end
+
+  if context.storage:isOnline() and #context.queue > 0 then
+    os.queueEvent('milo_cycle')
+  end
 end)
 
 Event.on('turtle_inventory', function()
diff --git a/neural/apis/angle.lua b/neural/apis/angle.lua
index f378a31..20fd424 100644
--- a/neural/apis/angle.lua
+++ b/neural/apis/angle.lua
@@ -1,7 +1,7 @@
 local Angle = { }
 
 function Angle.towards(x, y, z)
-  return math.deg(math.atan2(-x, z)), 0
+  return math.deg(math.atan2(-x, z)), math.deg(-math.atan2(y, math.sqrt(x * x + z * z)))
 end
 
 function Angle.away(x, y, z)
diff --git a/neural/apis/interface.lua b/neural/apis/interface.lua
index 5989696..3054651 100644
--- a/neural/apis/interface.lua
+++ b/neural/apis/interface.lua
@@ -76,7 +76,7 @@ function Interface.getUniqueNames()
 end
 
 function Interface.lookAt(pt)
-	local yaw, pitch = Angle.towards(pt.x - .5, pt.y + 1, pt.z - .5)
+	local yaw, pitch = Angle.towards(pt.x - .5, pt.y, pt.z - .5)
   return Interface.look(yaw, pitch)
 end
 
diff --git a/neural/neuralLook.lua b/neural/neuralLook.lua
new file mode 100644
index 0000000..d590b65
--- /dev/null
+++ b/neural/neuralLook.lua
@@ -0,0 +1,32 @@
+local ni    = require('neural.interface')
+local Point = require('point')
+local Util  = require('util')
+
+local os = _G.os
+
+local pos = { x = 0, y = 0, z = 0 }
+local meta = ni.getMetaOwner()
+
+local function findTargets()
+	local l = ni.sense()
+
+  Util.filterInplace(l, function(a)
+    return math.abs(a.motionY) > 0 and meta.id ~= a.id
+  end)
+  table.sort(l, function(e1, e2)
+		return Point.distance(e1, pos) < Point.distance(e2, pos)
+	end)
+
+  return l[1]
+end
+
+while true do
+  local target = findTargets()
+  if target then
+print('looking at ' .. target.name)
+    ni.lookAt(target)
+    os.sleep(0)
+  else
+    os.sleep(3)
+  end
+end